Furuta Plot

A plot utility for a furuta pendulum based on matplotlib.

Usage

Plots are best constructed using the FurutaPlotter wrapper class. Here is an example of how to plot a 3D animation of the pendulum and arm swinging at a constant rate for 10 seconds:

import matplotlib.pyplot as plt
import numpy as np

from furuta_plot import FurutaPlotter

FPS = 30
TOTAL_FRAMES = FPS * 10

fig = plt.figure()
p = FurutaPlotter(fig)
p.add_3D()

# One data point for each frame
phis = [2 * np.pi * i / (2*FPS) for i in range(TOTAL_FRAMES)]
thetas = [2 * np.pi * i / (FPS) for i in range(TOTAL_FRAMES)]

p.animate(fps=FPS, phi=phis, theta=thetas)

See the examples/ directory in the git repository for more usage examples.

Running Locally

If matplotlib and numpy are installed, then you can run one of the examples directly by putting the PYTHONPATH variable in front:

PYTHONPATH=. python3 examples/animated.py